fix(crosswalk): fix base path for stop point caluculation (autowarefo…

…undation#2584) Signed-off-by: satoshi-ota <[email protected]> Signed-off-by: satoshi-ota <[email protected]>
tier4 · Jan 4, 2023 · d00c813 · d00c813
1 parent f34a637
commit d00c813
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp b/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp
@@ -446,7 +446,7 @@ boost::optional<geometry_msgs::msg::Point> CrosswalkModule::findNearestStopPoint
   const auto stop_line_distance = exist_stopline_in_map ? 0.0 : planner_param_.stop_line_distance;
   const auto margin = stop_at_stop_line ? stop_line_distance + base_link2front
                                         : planner_param_.stop_margin + base_link2front;
-  const auto stop_pose = calcLongitudinalOffsetPose(sparse_resample_path.points, p_stop, -margin);
+  const auto stop_pose = calcLongitudinalOffsetPose(ego_path.points, p_stop, -margin);
 
   if (!stop_pose) {
     return {};